arduino代码

2026-07-18 18:22:58 +08:00
parent 2b7a320983
commit a2825ed71a
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+/* 
+ * rosserial Clapper Example
+ * 
+ * This code is a very simple example of the kinds of 
+ * custom sensors that you can easily set up with rosserial
+ * and Arduino.  This code uses a microphone attached to 
+ * analog pin 5 detect two claps (2 loud sounds).
+ * You can use this clapper, for example, to command a robot 
+ * in the area to come do your bidding.
+ */
+
+#if (ARDUINO >= 100)
+ #include <Arduino.h>
+#else
+ #include <WProgram.h>
+#endif
+#include <ros.h>
+#include <std_msgs/Empty.h>
+
+ros::NodeHandle  nh;
+
+std_msgs::Empty clap_msg;
+ros::Publisher p("clap", &clap_msg);
+
+enum clapper_state { clap1, clap_one_waiting,  pause, clap2};
+clapper_state clap;
+
+int volume_thresh = 200;  //a clap sound needs to be: 
+                          //abs(clap_volume) > average noise + volume_thresh
+int mic_pin = 5;
+int adc_ave=0;
+
+void setup()
+{ 
+  pinMode(13, OUTPUT);
+  nh.initNode();
+
+  nh.advertise(p);
+
+  //measure the average volume of the noise in the area
+  for (int i =0; i<10;i++) adc_ave += analogRead(mic_pin);
+  adc_ave /= 10;
+}
+
+long event_timer;
+
+void loop()
+{
+  int mic_val = 0;
+  for(int i=0; i<4; i++) mic_val += analogRead(mic_pin);
+  
+  mic_val = mic_val/4-adc_ave;
+  
+  switch(clap){
+   case clap1:
+    if (abs(mic_val) > volume_thresh){
+       clap = clap_one_waiting; 
+       event_timer = millis();
+    }
+    break;
+    case clap_one_waiting:
+      if ( (abs(mic_val) < 30) && ( (millis() - event_timer) > 20 ) )  
+      {
+        clap= pause;
+        event_timer = millis();
+
+      }
+      break;
+    case pause: // make sure there is a pause between 
+                // the loud sounds
+      if ( mic_val > volume_thresh) 
+      {
+        clap = clap1;
+
+      }
+      else if ( (millis()-event_timer)> 60)  {
+        clap = clap2;
+        event_timer = millis();
+
+      }
+      break;
+     case clap2:
+        if (abs(mic_val) > volume_thresh){ //we have got a double clap!
+            clap = clap1;
+            p.publish(&clap_msg);
+        }
+        else if ( (millis()-event_timer)> 200) {
+          clap= clap1; // no clap detected, reset state machine
+        }
+        
+        break;   
+  }
+  nh.spinOnce();
+}